Transceiver Optical System, Lidar, Terminal Device, Method, and Apparatus

Abstract

A transceiver optical system is configured to suppress a stray light signal in the optical field. The transceiver optical system includes a first emitter optical system and a first receiver optical system. An optical axis of the first emitter optical system and an optical axis of the first receiver optical system have a specific included angle (α), so that an echo signal transmitted into the first receiver optical system and the optical axis of the first receiver optical system also have a specific included angle.

What is claimed is: 
     
         1 . A transceiver optical system, comprising:
 a first emitter optical system comprising a first light source configured to transmit a first transmit signal;   a first receiver optical system configured to receive a first echo signal comprising a target echo signal, wherein the target echo signal is based on a reflection of the first transmit signal from an object, wherein a first optical axis of the first emitter optical system and a second optical axis of the first receiver optical system have a first included angle, and wherein the first included angle is greater than 0 degrees; and   a detector comprising a first pixel region and a second pixel region,   wherein the first pixel region and the second pixel region are configured to present different light spots.   
     
     
         2 . The transceiver optical system of  claim 1 , wherein the first pixel region and the second pixel region do not overlap. 
     
     
         3 . The transceiver optical system of  claim 1 , wherein the first pixel region and the second pixel region partially overlap. 
     
     
         4 . The transceiver optical system of  claim 1 , wherein the first pixel region is configured to present a first light spot corresponding to the target echo signal, and wherein the second pixel region is configured to present a second light spot corresponding to a stray light signal. 
     
     
         5 . The transceiver optical system of  claim 1 , wherein the first included angle is not less than an angular resolution of a lidar to which the transceiver optical system belongs. 
     
     
         6 . The transceiver optical system of  claim 5 , wherein the first receiver optical system comprises at least one light filter configured to:
 perform filtering on the first echo signal; and   output the target echo signal corresponding to the first transmit signal,   wherein a normal direction of the at least one light filter and the second optical axis have a second included angle, and   wherein the second included angle is greater than 0 degrees.   
     
     
         7 . The transceiver optical system of  claim 6 , wherein the second included angle is not less than the angular resolution. 
     
     
         8 . The transceiver optical system of  claim 6 , wherein the at least one light filter comprises one or more of a wedge-shaped light filter, a rectangular light filter, a square light filter, a circular light filter, or a polygonal light filter. 
     
     
         9 . The transceiver optical system of  claim 6 , wherein the first receiver optical system further comprises a lens assembly and at least one first diaphragm, wherein the at least one first diaphragm is located at one or more of the following locations: before the at least one light filter, between the at least one light filter and the lens assembly, between at least two adjacent lenses of the lens assembly, or between the lens assembly and the detector, and wherein the lens assembly is configured to focus the target echo signal to the first pixel region. 
     
     
         10 . The transceiver optical system of  claim 9 , wherein an inner surface of the at least one first diaphragm is of a concave structure or a convex structure. 
     
     
         11 . The transceiver optical system of  claim 10 , further comprising a second diaphragm, wherein the second diaphragm is connected to a protective layer or a photosensitive image plane of the detector. 
     
     
         12 . The transceiver optical system of  claim 11 , wherein the inner surface of the at least one first diaphragm, a first surface of the second diaphragm that faces the detector, or a second surface of the second diaphragm that backs onto the detector are covered by a matted material, are anodic oxidized, are coated, or are electrophoretic. 
     
     
         13 . The transceiver optical system of  claim 1 , further comprising:
 a second emitter optical system comprising a second light source configured to transmit a second transmit signal, wherein the second light source is the same as or different from the first light source; and/or   a second receiver optical system configured to receive a second echo signal, wherein the second echo signal is the same as or different from the first echo signal.   
     
     
         14 . A lidar comprising:
 a transceiver optical system comprising:
 a first emitter optical system comprising a first light source configured to transmit a first transmit signal; and 
 a first receiver optical system configured to receive a first echo signal comprising a target echo signal, wherein the target echo signal is based on a reflection of the first transmit signal from an object, wherein a first optical axis of the first emitter optical system and a second optical axis of the first receiver optical system have a first included angle, and wherein the first included angle is greater than 0 degrees; and 
 a detector comprising a first pixel region and a second pixel region, wherein the first pixel region and the second pixel region are configured to present different light spots. 
   
     
     
         15 . The lidar of  claim 14 , wherein the first light source is a linear light source. 
     
     
         16 . The lidar of  claim 14 , further comprising a scanning mechanism, wherein the scanning mechanism comprises one or more of a multi-sided rotating mirror, a swing mirror, a micro-electro-mechanical system (MEMS) scanning mirror, or a prism. 
     
     
         17 . The lidar of  claim 14 , wherein the first pixel region and the second pixel region do not overlap. 
     
     
         18 . The lidar of  claim 17 , wherein the first pixel region and the second pixel region partially overlap. 
     
     
         19 . The lidar of  claim 17 , wherein the first pixel region is configured to present a first light spot corresponding to the target echo signal, and wherein the second pixel region is configured to present a second light spot corresponding to a stray light signal. 
     
     
         20 . A transceiver optical system, comprising:
 a first emitter optical system comprising a first light source configured to transmit a first transmit signal;   a first receiver optical system configured to receive a first echo signal comprising a target echo signal,   wherein the target echo signal is based on a reflection of the first transmit signal by an object,   wherein a first optical axis of the first emitter optical system and a second optical axis of the first receiver optical system have a first included angle,   wherein the first included angle is greater than 0 degrees, and   wherein the first receiver optical system further comprises a lens assembly configured to focus the target echo signal.